Abstract: Automatic bond on techniques for remote operations on energized power lines are disclosed. A remote assembly may comprise a robot unit and a jib. The jib may have an end effector at a distal end, a proximal end coupled to the robot unit, and an insulating section between the distal end and the proximal end. The end effector may couple to the energized power line, and the insulating section may electrically isolate the robot unit from the energized power line. An actuator at the proximal end may be selectively actuatable to electrically connect to the end effector, thereby electrically bonding the robot unit to the energized power lines to enable operations on energized power line components. The jib may toggle the robot unit between the electrically bonded and grounded or floating states to allow the robot unit to operate on both grounded and energized components.

Abstract: A motor drive receives a position feedback signal from a position sensor operatively connected to a motor. The motor drive receives a command signal defining a desired operation of the motor. A processor in the motor drive generates an acceleration feedforward signal from the command signal and an acceleration reference signal from the command signal and the position feedback signal. The processor also generates an estimated disturbance acceleration from the acceleration reference signal. The acceleration feedforward signal is multiplied by a first gain to obtain a first product, and the estimated disturbance acceleration by a second gain to obtain a second product. The first and second gains are functions of first and second portions of the system inertia. A current reference signal is generated based on the first product and second products, and an output voltage to the motor is generated from the current reference signal.

Abstract: A semiconductor manufacturing apparatus including: a first device; a first calculation circuit that calculates one or more feature quantities of the first device from detected physical quantities; and a failure prediction circuit that determines a portion of model data with a minimum deviation between the measured feature quantities vector comprising the measured one or more feature quantities and a feature quantities vector comprising one or more feature quantities at each time in the plurality of pieces of model data, and calculates a predicted time until failure from a difference between the failure time point in the determined piece of model data and a point in time in the determined piece of model data at which the deviation between the measured feature quantities vector and the feature quantities vector at each time of the plurality of portions of model data is the minimum; and stops the receiving of a new substrate to prevent an introduction of defects on the new substrate.

Abstract: Disturbance compensation in computer-assisted devices include an articulated arm comprising one or more first joints and one or more second joints and one or more processors coupled to the articulated arm. The articulated arm is configured to support an end effector. The one or more processors when executing instructions are configured to: detect a disturbance to the one or more first joints, the disturbance causing a point of interest associated with the end effector to move; determine a predicted motion of the point of interest based on the detected disturbance; and drive the one or more second joints to move the point of interest based on an error in a position of the point of interest indicated by the predicted motion.

Abstract: A multi-axis servo control system includes a plurality of motors and a plurality of drive control apparatuses. The drive control apparatuses are connected to each other through an external field bus. Each drive control apparatus includes a control unit and a plurality of drive units. The drive units are connected to the control unit in series by a plurality of local buses to form a series-connected communication loop of sequentially transmitting data. Each drive unit controls at least one of the motors. The control unit receives multi-axis position commands through the external field bus, and the drive units correspondingly receive multi-axis commands through the local buses so as to control the motors in a decentralization manner.

Abstract: A control method for a robot system is a control method for a robot system including a conveying device configured to convey a target object and a robot configured to perform work while following the target object conveyed by the conveying device, the control method for the robot system including an image acquiring step for imaging, a plurality of times, the target object conveyed by the conveying device and acquiring a plurality of images, a reciprocating displacement information acquiring step for acquiring, based on the plurality of images, reciprocating displacement information indicating periodical reciprocating displacement in a width direction orthogonal to a conveying direction of the target object, and a correcting step for correcting a position command for the robot based on the reciprocating displacement information.

Abstract: A patient transport apparatus with a support structure having a base, a support frame, and a patient support deck defining a support surface. An inertial sensor is coupled to the support structure and generates a signal representing a change in velocity of the support structure. A controller in communication with the inertial sensor has a processor and a non-transitory storage medium having stored thereon a program that monitors the signal generated by the inertial sensor for changes relative to a predetermined threshold. In response to an event in which the signal exceeds the predetermined threshold, the program is further configured to: generate a waveform based on the signal received from the inertial sensor; store the waveform at an overwritable address in the non-transitory storage medium; and generate an entry in an event log stored in the non-transitory storage medium, the entry comprising one or more parameters associated with the waveform.

Abstract: A control device includes a control component that performs model predictive control for each control period using a dynamics model representing a relationship between a manipulated variable and the position of a controlled object to generate a manipulated variable to be output to the servo driver. The dynamics model includes a first dynamics model representing a relationship between the manipulated variable and a position of a servomotor, and a second dynamics model representing a relationship between the position of the servomotor and the position of the controlled object. The second dynamics model is created using a waveform parameter extracted from a vibration waveform of the controlled object. The waveform parameter includes a vibration frequency.

Abstract: An embodiment may provide a motor including a shaft, a rotor coupled to the shaft, and a stator disposed between the shaft and the rotor, wherein the rotor includes a yoke coupled to the shaft and a driving magnet and a sensing magnet which are coupled to the yoke, the sensing magnet includes a first sensing magnet and a second sensing magnet, a first pole and a second pole are alternately disposed on a first circumference of the first sensing magnet, and the second sensing magnet is disposed on a second circumference having a radius different from a radius of the first circumference and includes a first pole and a second pole of which a length in a circumferential direction is different from a length of the first pole of the second sensing magnet in the circumferential direction.

Abstract: A system and method of breakaway clutching in a device includes an arm having a first joint and a control unit coupled to the arm. The control unit includes one or more processors. The control unit switches the first joint from a first state of the first joint to a second state of the first joint in response to an external stimulus applied to the arm exceeding a first threshold. Movement of the first joint is more restricted in the first state than in the second state. The control unit further switches the first joint from the second state to the first state in response to a speed associated with the first joint falling below a speed threshold. The first threshold is based on at least one first property of the arm. The speed threshold is based on at least one second property of the arm.

Abstract: The invention discloses an automatic tool aligning system based on a spectral confocal displacement sensor. The system comprises three-dimensional mobile platform, tool aligning component based on the spectral confocal displacement sensor, clamping device, machine tool and the control module. The three-dimensional mobile platform is fixed on the outer side of the machine tool, the tool aligning component is connected with the three-dimensional mobile platform, the clamping device used to clamp the workpiece is fixed on the center of the machine tool through mechanical connection, and the spectral confocal displacement sensor is connected with the control module. After judging the collected working condition data, the control module outputs a control instruction to the three-dimensional mobile platform.

Abstract: A spearing end effector for a robotic spearing device capturing and sorting a selected item from a mass of items and having a robotic manipulator with the spearing end effector mounted at an end thereof. The robotic spearing device comprises: a spearing end effector body; a spike; a linear actuator having the spike mounted thereon; and a propeller. The spike is configurable between a retracted configuration where it is entirely located inside the spearing end effector body and an extended configuration where it extends outwardly from therefrom. The spike is engageable to the selected item when configured in the extended configuration. The linear actuator is movable to configure the spike between the retracted configuration and the extended configuration. The propeller is selectively activatable to propel the selected item in a propelling direction during an ejection of the selected item from the spearing end effector.

Abstract: The invention relates to an electric motor for operating shift elements in an automatic transmission for a vehicle that has an actuator for operating the electric motor mounted thereon. The actuator can be coupled to a data bus for communication. The actuator also has a communication module for communicating with at least one other actuator that can be coupled to the data bus for communication in at least one other electric motor.

Abstract: A data storage device has a closed loop extended park mode during spin down operation. A data storage device comprises a spindle motor configured to rotate one or more disks, and one or more processing devices. The one or more processing devices are configured to determine a value of current that is discharged from the spindle motor over time during a spin down of the spindle motor, and control a braking duty cycle for braking the spindle motor during the spin down such that the value of current discharged from the spindle motor over time does not exceed a selected current limit.

Abstract: An object of the present invention is to provide a motor control device capable of estimating a delay with high accuracy even in a case where there is a fluctuation in disturbance torque or delay time and of suppressing the influence of the delay. For this end, the present invention includes a motor MTR, an ECU 2 that controls the rotation of the motor MTR, and an ECU 1 that sends a torque command to the ECU 2 based on a command value. The ECU 1 includes a disturbance estimation block 100 and a delay estimation block 200. The disturbance estimation block 100 estimates disturbance torque (?d) using a torque command input to the ECU 2 and a feedback value of the motor MTR. The delay estimation block 200 estimates a delay using a torque command output from the ECU 1, the feedback value of the motor MTR, and the disturbance torque (?d).

Abstract: A system is disclosed that includes an end effector and a support configured to move the end effector. The support may include a first link, a second link rotationally connected to the first link at a joint, and a motor rigidly mounted to the first link and configured to drive rotation of the second link relative to the first link. The support may also include a sole encoder associated with the joint and configured to generate a signal indicative of a position of the first link relative to the second link. The system may further include a controller in communication with the sole encoder and the motor. The controller may be configured to selectively trim operation of the motor based only on the signal.

Abstract: A patient transport apparatus with a support structure having a base, a support frame, and a patient support deck defining a support surface. An inertial sensor is coupled to the support structure and generates a signal representing a change in velocity of the support structure. A controller in communication with the inertial sensor has a processor and a non-transitory storage medium having stored thereon a program that monitors the signal generated by the inertial sensor for changes relative to a predetermined threshold. In response to an event in which the signal exceeds the predetermined threshold, the program is further configured to: generate a waveform based on the signal received from the inertial sensor; store the waveform at an overwritable address in the non-transitory storage medium; and generate an entry in an event log stored in the non-transitory storage medium, the entry comprising one or more parameters associated with the waveform.

Abstract: A vibration-cancelling module includes a first rotor having a first eccentric body, a second rotor having a second eccentric body, and a stator assembly in electromagnetic communication with the first and second rotors. A central shaft extends between the first and second rotors. The first and second rotors rotationally operate about a common rotational axis with respect to one another between a balanced position and a plurality of eccentric positions. A controller has an accelerometer assembly and a rotor-position sensor assembly. The controller delivers an electrical current to the stator assembly at least based upon the accelerometer assembly. A common housing contains the first and second rotors, the stator assembly, the central shaft and the controller.

Abstract: Embodiments of the present invention provide testing systems with liquid cooled thermal arrays that can pivot freely in three dimensions allowing surfaces to be brought into even, level, and secure contact, thereby preventing air gaps between surfaces and improving thermal performance. In this way, more DUTs can be tested in parallel within a small test space, overall costs of the test system are reduced, and greater cooling capacity can be provided for testing high-powered devices. Gimbaled mounts are disposed on a bottom surface of individual thermal interface boards (TIBs) of a test system, and/or on top of individual thermal heads of a thermal array (TA) having a common cold plate (or having multiple cold plates).

Abstract: A method for testing capacitive current switching of a circuit breaker, including: realizing a capacitive current switching by the circuit breaker, measuring voltage at the terminals of the circuit breaker after the capacitive current switching, calculating the gradient of the measured voltage, determining whether there is at least one point of gradient whose amplitude exhibits an absolute value greater than a first predetermined threshold, and when such a point is determined, identifying the instant of appearance of the determined point and of the amplitude of variation of the voltage at that instant, as voltage drop.

Abstract: A method for finding a center of a process kit and/or a process kit ring is provided. An object placed on an end effector is moved past a sensor of a manufacturing system. A first signal indicating a current shape of object is received from the sensor of the manufacturing system. A determination is made whether the first signal corresponds to a second signal indicating a predefined shape for a process kit and/or a process kit carrier. In response to a determination that the first signal corresponds to the second signal, a coordinate correspondence is determined between coordinates of a center of the object and coordinates of a center of the end effector. The determined coordinate correspondence indicates whether a current placement of the object on the end effector satisfies a target placement criterion.

Abstract: A multi-axis control adjustment apparatus includes adjustment axis selection circuitry configured to select a plurality of target axes among a plurality of axes each of which represents a combination of a motor and a motor control device configured to control the motor according to a control parameter of the motor control device, adjustment operation execution circuitry configured to perform adjustment operations in each of which the control parameter is adjusted with respect to each of the plurality of target axes, and first control parameter setting circuitry configured to change, according to the adjustment operations, timing at which the control parameter is set with respect to each of the plurality of target axes.

Abstract: A method of speed control based on a self-learning model of load torque and a moment inertia is applied to a controller of controlling a motor. The method includes steps of: establishing a relationship between the load torque and the moment inertia by a self-learning manner, correspondingly acquiring a value of the moment inertia according to a value of the load torque, and adjusting parameters of the controller to control rotation of the motor according to the value of the moment inertia.

Abstract: A surgical device for retaining a tool, the surgical device comprises a multi-axis manipulator configured to generate relative movement between a moving end and a stationary end thereof; a housing fixed to the stationary end of the manipulator; a motor configured to rotate the tool by a rotating interface when the tool is retained to the rotating interface; an adaptor connected to the manipulator and in orientational fixation to the moving end of the manipulator, the adaptor being configured to move with the moving end, and the adaptor comprises a tool stopper disposed therein, wherein the tool stopper is configured to catch the tool if the tool is dropped from the rotating interface; a tool head latchless interface exposed to a channel of the adaptor and configured to provide attraction force within the channel for retaining the tool to the rotating interface.

Abstract: A method and system configured to receive a first report from a computer peripheral device by a receiver, determine that the first report is corrupted or received at a rate slower than the first report rate, compute a current trajectory of the computer peripheral device based on one or more intervals of movement data in the first report, compute a predicted trajectory of the computer peripheral device based on the first report, compute an incremental displacement of the computer peripheral device based on the predicted trajectory. The method and system can further generate data indicative of a position or displacement of the computer peripheral device based on the predicted trajectory of the computer peripheral device and send the data indicative of a position or displacement of the computer peripheral device at an interval that is less than twice a period of the first report rate to the host computing device.

Abstract: A method and an apparatus for isolating a vibration of a positioning device are provided. The apparatus includes a base plate for the positioning device, at least one active bearing element for bearing the base plate on/at a foundation and at least one evaluation and control device. The apparatus includes at least one means for determining a foundation movement-dependent quantity, wherein the active bearing element is controllable by the at least one control and evaluation device on the basis of the foundation movement-dependent quantity.

Abstract: A control method includes (a) measuring a misregistration index value relating to misregistration of a distal end portion of a manipulator by controlling the manipulator to perform a test operation, and (b) setting a limit value for an operation of the manipulator to prevent the misregistration index value from exceeding a predetermined threshold value.

Abstract: A system includes a motor configured to be coupled to a non-rigid load and a control system disposed within, or communicatively coupled to, a drive system configured to control an operation of the motor. The control system includes a processor and a memory accessible by the processor. The memory stores instructions that, when executed by the processor, cause the processor to generate a smooth move input profile to control the operation of the motor based on inputs specifying a desired operation of the motor, apply a notch filter having a notch filter frequency to the smooth move input profile to produce a filtered smooth move input profile, and send a command to the drive system based on the filtered smooth move input profile, wherein the command is configured to adjust the operation of the motor.

Abstract: The invention relates to a method used to control a scroll compressor having a first and a second spiral, in particular that are arranged one inside the other. The first spiral can be moved by a motor relative to the second spiral for a decompression or compression operation of the scroll compressor. The invention reduces vibration (actual acceleration forces) in the scroll compressor to allow for a longer service life by adapting a torque curve of the motor on the basis of measured acceleration forces on the scroll compressor which, in turn, is based on the position and/or positional angle of the first spiral relative to the second spiral such that the acceleration forces are reduced below a threshold or minimized.

Abstract: Faster, less computational intense, and more robust techniques to optimize velocity of robots or portions thereof without violating constraints on acceleration and jerk (derivative of acceleration with respect to time) are described. A nonlinear problem of optimizing velocity without violating acceleration constraints is linearized, and produces acceleration constrained velocity estimates. A nonlinear problem of optimizing velocity without violating jerk constraints in linearized, and produces jerk constrained velocity estimates, and may be feed by the acceleration constrained velocity estimates. Configuration and timing may be generated and provided, e.g., as vectors, to control operation of a robot, robotic appendage or other structure.

Abstract: A technique enables control parameter adjustment with a more accurate estimated inertia ratio for multiple servomotors. An adjustment support apparatus (9) supports adjustment of inertia ratios as control parameters for servo drivers (5, 6) that drive multiple servomotors. The adjustment support apparatus (9) includes an inertia ratio obtainer (91) that obtains inertia ratios estimated by inertia ratio estimators (52, 62) included in the servo drivers (5, 6) and an inertia ratio setting control unit (92) that synchronizes inertia ratio settings and updates between the servo drivers (5, 6).

Abstract: A substrate processing apparatus including a frame, a first arm coupled to the frame at a shoulder axis having a first upper arm, a first forearm and at least one substrate holder serially and rotatably coupled to each other, a second arm coupled to the frame at the shoulder axis where shoulder axes of rotation of the arms are substantially coincident, the second arm having a second upper arm, a second forearm and at least one substrate holder serially and rotatably coupled to each other, and a drive section connected to the frame and coupled to the arms, the drive section being configured to independently extend and rotate each arm where an axis of extension of the first arm is angled relative to an axis of extension of the second arm substantially at each angular position of at least one of the first arm or the second arm.

Abstract: A steering column may include a first adjustment drive for adjustments in a length adjustment direction and a second adjustment drive for adjustments in a height adjustment direction. The adjustment drives each have a drive motor. A joint control unit for the drive motors comprises three half bridges arranged in parallel and connected between two voltage potentials. Each half bridge has a high-side switch and a low-side switch connected in series via a connection point. The connection point of the first half bridge is electrically conductively connected to a first connection of a first drive motor. The connection point of a second half bridge is electrically conductively connected to a second connection of the first drive motor and to a first connection of the second drive motor. The connection point of a third half bridge is electrically conductively connected to a second connection of the second drive motor.

Abstract: A method for adjusting a parameter value of a position controller and a parameter value of a rotational speed controller is provided. The position controller and the rotational speed controller are cascaded and are a component of a control circuit. The method includes generating and displaying a two-dimensional parameter adjusting field, wherein points in the two-dimensional parameter adjusting field are selectable by a user, and a specific parameter value of the position controller and a specific parameter value of the rotational speed controller are allocated to a point, and after the user has selected a point adopting the specific parameter value of the position controller that is allocated to the selected point and adopting the specific parameter value of the rotational speed controller that is allocated to the selected point.

Abstract: A numerically controlled machine tool has at least one movement axis and is connected to a numerical controller which includes a parts program. Movements of each movement axis are limited by maximum permissible axis dynamics. The parts program has a sequence of instructions for machining a workpiece which specify different maximum desired speeds for the machining of the workpiece which change abruptly over time. The numerical controller approximates the different maximum desired speeds which change abruptly over time with a desired speed profile that is continuous over time and has a profile of the maximum desired speeds which is also continuous over time. The numerical controller uses the continuous desired speed profile to calculate the desired values of an actual movement profile of the movements for each movement axis.

Abstract: The invention relates to an electric machine tool comprising an electric motor, a motor control unit for operating the electric motor, an input interface for entering a target specification of an operating mode of the electric motor into the motor control unit, and a motor sensor device for detecting the operating mode of the electric motor. A slave control unit is provided, which is independent from the motor control unit and communicatingly connected to the motor sensor device and the input interface and designed to compare the operating mode of the electric motor detected by the motor sensor device with the target specification entered via the input interface, and to influence the operating mode of the electric motor in case of a defined deviation of the operating mode from the target specification by means of a control device.

Abstract: A precision tripod motion system is provided. The tripod motion system in one example includes a bottom plate including three spaced-apart bottom single-degree-of-freedom hinges, a top plate including three spaced-apart top three-degrees-of-freedom (TDOF) joints, wherein the top plate is configured to receive a workpiece. Each linear actuator of three linear actuators is coupled to an associated SDOF hinge of the bottom plate and coupled to an associated TDOF joint of the top plate. Each linear actuator is configured to change length over a linear actuation span and configured to return the top plate to a predetermined set position after the top plate is displaced by an external force Each linear actuator includes a ball coupled to the associated three TDOF joint and a positioning actuator configured to move the ball to the predetermined set position prior to the return of the top plate to the predetermined set position.

Abstract: Prosthetic devices and, more particularly, modular myoelectric prosthesis components and related methods, are described. In one embodiment, a hand for a prosthetic limb may comprise a rotor-motor; a transmission, comprising a differential roller screw; a linkage coupled to the transmission; and at least one finger coupled to the linkage. In one embodiment, a component part of a wrist of a prosthetic limb may comprise an exterior-rotor motor, a planetary gear transmission, a clutch, and a cycloid transmission. In one embodiment, an elbow for a prosthetic limb may comprise an exterior-rotor motor, and a transmission comprising a planetary gear transmission, a non-backdrivable clutch, and a screw.

Abstract: A method for positioning a substage (9), supported by a main stage (5), relative to a reference object, the substage moveable in a direction (7) between a first and second position relative to the main stage. The method includes positioning the first stage using a passive force system that is activated by positioning the main stage. The passive force system includes two magnet systems (119, 121), each magnet system being configured to apply a force in the direction to the first stage with respect to the second stage in a non-contact manner, the forces resulting in a resultant force applied to the first stage in the direction by the passive force system. A magnitude and/or a direction of the resultant force depends on the position of the first stage relative to the second stage, and the first stage has a zero-force position between the first and second position in which the resultant force is zero.

Abstract: An electric motor control device includes a feedforward controller, a feedback controller, and an adder-subtractor. The feedforward controller receives a position command signal to specify a target position of a control target load and outputs signals representing a target position, target speed and torque of the electric motor. The feedback controller outputs a feedback torque command signal representing a torque command to perform feedback control in such a manner that an electric motor position signal and a feedforward position command signal coincide with each other. The adder-subtractor subtracts a load acceleration feedback torque signal obtained by multiplying a load acceleration signal representing acceleration of the control target load by a load acceleration feedback gain from a torque command signal obtained by adding a feedforward torque command signal and the feedback torque command signal, and outputs a result of the subtraction as a torque command correction signal.

Abstract: A finger pointing joystick with magnetic induction is provided. The finger pointing joystick with magnetic induction includes a main housing having a bottom case and an upper cover; a support frame having a fixed end fixedly to an end of the bottom case; a movable sphere disposed on a receiving ring; a joystick body fixed on the movable sphere; an elastic piston piece having a connecting rod inserted through a piston groove, an elastic disc fixed below the connecting rod, a return spring fixed between the movable sphere and the elastic disc, and a magnet correspondingly fixed to the elastic disk; and a magnetic induction element disposed below the magnet.

Abstract: The disclosure provides a method for controlling a drive arrangement for a flap of a vehicle by a control arrangement, wherein in a measuring routine a measured movement value is measured by a movement measuring system. It is proposed that in an estimation routine an estimated movement value is estimated, in a movement routine the estimated movement value is determined via the estimation routine and the flap is adjusted according to a set movement value, in a correction routine the estimated movement value is determined from the estimation routine and an estimation error is determined and from the estimated movement value and according to a correction specification the set of model parameters is corrected based on the estimation error and supplied to the estimation routine and in the correction routine the correction of the set of model parameters is performed for a part section of the motorized movement cycle.

Abstract: A digital positioner for a valve includes a valve controller configured to obtain a set point value for a valve travel of a valve, and generate a pulse-width modulated current signal based on the set point value. The digital positioner also includes a current-to-pressure converter configured to receive the pulse-width modulated current signal from the valve controller, convert the pulse-width modulated current signal to a pulse-width modulated pressure signal, and provide the pulse-width modulated pressure signal to a pneumatic actuator in the valve to adjust a position of the valve.

Abstract: A servo amplifier selection device includes a memory configured to store specifications of each of a plurality of amplifiers capable of supplying power to a motor; and a processor configured to select, based on the number of one or more designated motors, specifications of each of the one or more designated motors, and specifications of each of the plurality of amplifiers, a combination of amplifiers connected to the one or more designated motors from the plurality of amplifiers in such a way that each of the one or more designated motors is connected to any of the plurality of amplifiers; and select, for each amplifier included in the combination of the amplifiers, specifications of a power cable that connects between the amplifier and a power source in such a way as to satisfy a supply of power needed for the motor connected to the amplifier.

Abstract: A shift range control device is provided for a shift range switching system that includes a motor and a plurality of detectors. The motor has a plurality of winding sets. Each of the detectors is configured to detect a physical quantity that changes in accordance with rotation of the motor. The shift range control device includes a plurality of controllers configured to control switching of a shift range by controlling drive of the motor. Each of the controllers is provided to corresponding one of the winding sets and configured to acquire detection signals from the detectors, determine, based on the detection signals, a calculation signal having a same value between the controllers, and control, based on a target shift range and the calculation signal, a current supply to the corresponding one of the winding sets.

Abstract: An electric motor control device includes a position controller, a command acceleration calculator, a first subtractor, and a second subtractor. The position controller receives a position command signal specifying a target position of the load and an electric motor position signal representing a position of the electric motor that drives the load, and outputs a torque command signal. The command acceleration calculator receives the position command signal and outputs a command acceleration signal representing acceleration of the position command signal. The first subtractor subtracts the command acceleration signal from a load acceleration signal representing acceleration of the load and outputs a load acceleration correction signal. The second subtractor subtracts from the torque command signal a value obtained by multiplying the load acceleration correction signal by a predetermined weighting coefficient and outputs a torque command correction signal.

Abstract: Provided is a semiconductor manufacturing apparatus, comprising: a first device; one or more sensors that detect physical quantities indicating a state of the first device; a first calculation circuit that calculates one or more feature quantities of the first device from the detected physical quantities; and a failure prediction circuit that monitors a temporal change in the one or more feature quantities calculated in the first calculation circuit, and stops receiving a new substrate when a duration for which a degree of deviation of the one or more feature quantities from those at a normal time is increasing exceeds a first time, and/or when a number of increases and decreases per unit time in the degree of deviation of the one or more feature quantities from those at the normal time exceeds a first number.

Abstract: A method for automated optimisation of a servo control system controlled by a setpoint, the servo control system including a corrector in a feedback loop, the method exhibiting satisfactory reliability and performance in terms of stability through an iterative procedure, the most effective corrector being determined from among correctors by developing a current value of the delay margin and by individually testing the correctors on the servo control system of the real mechatronic system and by injecting an excitation signal into the loop and by assessing two effective indicators based on at least one effective static margin and one effective dynamic margin, the two effective indicators being an effective static indicator and an effective dynamic indicator, the iterative procedure being stopped on a corrector, which is then the optimal corrector, when the two effective indicators become greater than respective thresholds determined for a current delay margin value.

Abstract: An additive manufacturing system is disclosed for use in fabricating a structure. The additive manufacturing system may include a print head, and a support configured to move the print head. The support may include a first link, a second link rotationally connected to the first link at a joint, and an encoder-less motor rigidly mounted to the first link and configured to drive rotation of the second link relative to the first link. The support may also include a sole encoder associated with the joint and configured to generate a signal indicative of an angular position of the first link relative to the second link. The additive manufacturing system may further include a controller in communication with the sole encoder and the encoder-less motor. The controller may be configured to selectively trim operation of the encoder-less motor based only on the signal.

Abstract: Disclosed is a calibration device including: a position information acquiring unit (101) for acquiring position information showing the position and the posture of control target equipment; a force information acquiring unit (102) for acquiring information about a force applied to the control target equipment from a detection result of a force sensor (5) disposed in the control target equipment; a first estimating unit (104) for estimating the force applied to the control target equipment from the acquired position information by using a physical model, to acquire estimated force information; and a second estimating unit (105) for estimating a linear or nonlinear model on the basis of the acquired position information, the acquired force information, and the acquired estimated force information.